Hyundai Genesis tuning (#2405)
2015 Genesis 3.8 L. tuning to stop extreme ping pong on cornering and on straights.
This commit is contained in:
parent
f38d0b11ce
commit
f4624efe35
|
@ -79,8 +79,11 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.mass = 2060. + STD_CARGO_KG
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
ret.lateralTuning.init('indi')
|
||||
ret.lateralTuning.indi.innerLoopGain = 3.5
|
||||
ret.lateralTuning.indi.outerLoopGain = 2.0
|
||||
ret.lateralTuning.indi.timeConstant = 1.4
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 2.3
|
||||
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
||||
elif candidate == CAR.GENESIS_G70:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
|
|
Loading…
Reference in a new issue